Self-attention Multi-Modal Fusion Network for Learning End-to-End Control Policies

This repository contains the code for Self-attention Multi-Modal Fusion Network for Learning End-to-End Control Policies.

 
 

Demo Videos

[DRFuser Data Demo][DDD Demo] [Carla EventScape Data Demo]

Contents

1. Setup
2. Dataset
3. Dataset Generation
4. Training
5. Evaluation

Setup

Install anaconda

wget https://repo.anaconda.com/miniconda/Miniconda3-py38_4.10.3-Linux-x86_64.sh
bash Miniconda3-py38_4.10.3-Linux-x86_64.sh
source ~/.bashrc

Clone the repo and build the environment

git clone https://github.com/azamshoaib/DRFuser.git
cd DRFuser
conda create -n drfuser python=3.8
conda activate drfuser
pip install torch==1.8.0+cu111 torchvision==0.9.0+cu111 torchaudio==0.8.0 -f https://download.pytorch.org/whl/torch_stable.html
pip install -r requirements.txt

Dataset

A. DRFuser Dataset
Our collected dataset include event, frame-based RGB and vehicle control data can be requested at https://forms.gle/dTHTfigxx2nNNtuQ6.

B. Davis Driving Dataset (DDD)
The Davis Driving dataset can be downloaded from https://sites.google.com/view/davis-driving-dataset-2020/home

C. Carla Eventscape Dataset

The Carla Eventscape dataset can be downloaded at http://rpg.ifi.uzh.ch/RAMNet.html

Dataset Generation

1. DRFuser Dataset
   The raw dataset can be requested at
   i) Pre-processing of data
   Note: We recommend to deactivate the conda environment and install the following dependencies on the system. \
   • Install ROS and its dependencies from http://wiki.ros.org/Installation/Ubuntu . In our experimentation we have used ROS melodic. Please check your Ubuntu and install the respective ROS version.
   • Create the workspace

   $ mkdir -p ~/workspace/src
   $ git clone https://github.com/uzh-rpg/rpg_dvs_ros.git
   $ cp msgs ~/workspace/src/
   $ cd ~/workspace/
   $ rosdep install --from-paths src --ignore-src -r -y
   $ catkin_make
   $ source devel/setup.bash

   • Install the bagpy

   pip install bagpy
   

   • Run the following script for the data synchronizing

   python data_synchronize.py
   

   • After the running the data_synchronize.py, two folders with aps_data and dvs_data will be created. The complete synchronize data in csv format will also be created in the same rosbag folder.
   • The following illustrates the folder structure after running the script

   /path/to/rosbag_file
       ├── /aps_data
       ├── /aps_data_day2-2-gist.csv
       ├── /can_info.csv
       ├── /can_out_sync.csv
       ├── /complete_data.csv
       ├── /dvs_data
       ├── /dvs_data_day2-2-gist.csv
       ├── /dvs_out_sync.csv
   

Training

For training the network using DRFuser dataset, run the following script

python train.py

The train.py provide a explanation about the different arguments used in the script.

Evaluation

Testing a network is done by using two scripts. First, the test.py script is used to save the predictions from the network. As a second step, the visualize.py script is used to visualize the results on the dataset.

Note: The scripts for training and evaluation are same for the DDD and Carla Eventscape datasets. The required arguments in the train.py must be changed before using the aforementioned datasets.